Direct adaptive control with integral action for nonminimum phase systems |
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Authors: | Jong-Hwan Kim Keh-Kun Choi |
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Affiliation: | Seoul National University, Seoul, Korea; |
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Abstract: | This note presents a direct adaptive control scheme for nonminimum phase systems where controller parameters are estimated from the recursive least-squares algorithm. Some additional auxiliary parameters are obtained from the proposed polynomial identity,, and a local convergence is guaranteed without any extra conditions. Integral action is incorporated into the adaptive controller to eliminate the steady-state error, and to satisfy a condition of the unique solution for the polynomial identity as well. |
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